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kriswiner / LSM9DS0

LSM9DS0 9DOF sensor AHRS sketch
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About Orientation #14

Open Bobur-kobilov opened 6 years ago

Bobur-kobilov commented 6 years ago

Hi Kris, Thank you a lot for the source code!

I implemented Madgwick source code with LSM9DS0 and the data that I get are really good but I have a problem with aligning the sensor orientation with global orientation. For instance, for visualization, I sent quaternion data to unity 3d and when I move the sensor in pitch direction, in the unity character is moving in yaw direction. Please could you help how to feed quaternion values to 3d character

kriswiner commented 6 years ago

Well, you need to figure out which direction is North in unity 3d and then choose the sensor order accordingly into the Madwick filter.

On Mon, Nov 27, 2017 at 4:14 AM, Bobur-kobilov notifications@github.com wrote:

Hi Kris, Thank you a lot for the source code!

I implemented Madgwick source code with LSM9DS0 and the data that I get are really good but I have a problem with aligning the sensor orientation with global orientation. For instance, for visualization, I sent quaternion data to unity 3d and when I move the sensor in pitch direction, in the unity character is moving in yaw direction. Please could you help how to feed quaternion values to 3d character

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Bobur-kobilov commented 6 years ago

Hi Kris, Thank you for you reply! I have been wondering how I can calibrate LSMD90 IMU magnetometer

kriswiner commented 6 years ago

https://github.com/kriswiner/LSM9DS0/blob/master/Teensy3.1/MiniShield/LSM9DS0_MS5611_BasicAHRS_t3.ino

On Tue, Nov 28, 2017 at 9:26 PM, Bobur-kobilov notifications@github.com wrote:

Hi Kris, Thank you for you reply! I have been wondering how I can calibrate LSMD90 IMU magnetometer

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Bobur-kobilov commented 6 years ago

Thank you kris! I implemented and calibration is working well! I have a question about beta value! If you can help me figure out, it would be appreciated!

  1. What is the function of beta value?
  2. For each sensor, do I have to tweak beta value to eliminate drift?